The localization is one of the fundamental problems of modern robotics.
Robots commonly use the laser scanner data presented in the form of point clouds.
To relate one scan to another scan-matching algorithms are used with Iterative Closest Point [1]} being one of the most popular approaches. Scan-matching problems also
arise outside of the robotics domain, for example, in the context of
medical image comparison and registration [2]}, [3]},
for which ICP is widely used as well.
